<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.11"/>
<title>blmc_robots: demo_finger_print_position Namespace Reference</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<script type="text/javascript">
  $(document).ready(initResizable);
  $(window).load(resizeHeight);
</script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<script type="text/javascript">
  $(document).ready(function() { init_search(); });
</script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">blmc_robots
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.11 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
  <div id="navrow1" class="tabs">
    <ul class="tablist">
      <li><a href="index.html"><span>Main&#160;Page</span></a></li>
      <li><a href="pages.html"><span>Related&#160;Pages</span></a></li>
      <li class="current"><a href="namespaces.html"><span>Namespaces</span></a></li>
      <li><a href="annotated.html"><span>Classes</span></a></li>
      <li><a href="files.html"><span>Files</span></a></li>
      <li>
        <div id="MSearchBox" class="MSearchBoxInactive">
        <span class="left">
          <img id="MSearchSelect" src="search/mag_sel.png"
               onmouseover="return searchBox.OnSearchSelectShow()"
               onmouseout="return searchBox.OnSearchSelectHide()"
               alt=""/>
          <input type="text" id="MSearchField" value="Search" accesskey="S"
               onfocus="searchBox.OnSearchFieldFocus(true)" 
               onblur="searchBox.OnSearchFieldFocus(false)" 
               onkeyup="searchBox.OnSearchFieldChange(event)"/>
          </span><span class="right">
            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
          </span>
        </div>
      </li>
    </ul>
  </div>
  <div id="navrow2" class="tabs2">
    <ul class="tablist">
      <li><a href="namespaces.html"><span>Namespace&#160;List</span></a></li>
      <li><a href="namespacemembers.html"><span>Namespace&#160;Members</span></a></li>
    </ul>
  </div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
$(document).ready(function(){initNavTree('namespacedemo__finger__print__position.html','');});
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="summary">
<a href="#var-members">Variables</a>  </div>
  <div class="headertitle">
<div class="title">demo_finger_print_position Namespace Reference</div>  </div>
</div><!--header-->
<div class="contents">
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
Variables</h2></td></tr>
<tr class="memitem:ac973269b6e955c65b37f15205ebe0db0"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac973269b6e955c65b37f15205ebe0db0"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>finger_data</b> = robot_interfaces.finger.Data()</td></tr>
<tr class="separator:ac973269b6e955c65b37f15205ebe0db0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5c87250fb82c9b9e079d43ff3ad3483f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><b>finger_backend</b></td></tr>
<tr class="separator:a5c87250fb82c9b9e079d43ff3ad3483f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afeb3764fbfdf7a5eb75af330f4f9382e"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afeb3764fbfdf7a5eb75af330f4f9382e"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>finger</b> = robot_interfaces.finger.Frontend(finger_data)</td></tr>
<tr class="separator:afeb3764fbfdf7a5eb75af330f4f9382e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4a00f5e75866746b4888e94ae05b8ed6"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4a00f5e75866746b4888e94ae05b8ed6"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>t</b> = finger.append_desired_action(robot_interfaces.finger.Action())</td></tr>
<tr class="separator:a4a00f5e75866746b4888e94ae05b8ed6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae1e604bafae8b29d3c2dc97dd1377f8b"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae1e604bafae8b29d3c2dc97dd1377f8b"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>pos</b> = finger.get_observation(t).position</td></tr>
<tr class="separator:ae1e604bafae8b29d3c2dc97dd1377f8b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af55592c94f56dfb029c281f2b523edc8"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af55592c94f56dfb029c281f2b523edc8"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>end</b></td></tr>
<tr class="separator:af55592c94f56dfb029c281f2b523edc8"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><pre class="fragment">Send zero-torque commands to Finger robot and print joint positions.</pre> </div><h2 class="groupheader">Variable Documentation</h2>
<a class="anchor" id="a5c87250fb82c9b9e079d43ff3ad3483f"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">demo_finger_print_position.finger_backend</td>
        </tr>
      </table>
</div><div class="memdoc">
<b>Initial value:</b><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"><a class="line" href="namespacedemo__finger__print__position.html">    1</a></span>&#160;= <a class="code" href="namespaceblmc__robots.html#a693261e8993e9bd28001f71454979ec4">blmc_robots.create_real_finger_backend</a>(<span class="stringliteral">&quot;can0&quot;</span>, <span class="stringliteral">&quot;can1&quot;</span>,</div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;                                                        finger_data)</div><div class="ttc" id="namespaceblmc__robots_html_a693261e8993e9bd28001f71454979ec4"><div class="ttname"><a href="namespaceblmc__robots.html#a693261e8993e9bd28001f71454979ec4">blmc_robots::create_real_finger_backend</a></div><div class="ttdeci">robot_interfaces::FingerTypes::BackendPtr create_real_finger_backend(const std::string &amp;can_0, const std::string &amp;can_1, robot_interfaces::FingerTypes::DataPtr robot_data)</div><div class="ttdef"><b>Definition:</b> real_finger_driver.hpp:66</div></div>
</div><!-- fragment -->
</div>
</div>
</div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="namespacedemo__finger__print__position.html">demo_finger_print_position</a></li>
    <li class="footer">Generated by
    <a href="http://www.doxygen.org/index.html">
    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.11 </li>
  </ul>
</div>
</body>
</html>
